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The Design and Fundamental Property Research of A Reconfigurable Robot

Author: ZhangChengJun
Tutor: LiYanWen
School: Yanshan University
Course: Mechanical and Electronic Engineering
Keywords: Robot Reconfigurable Configuration optimization Genetic Algorithms Kinematics Dynamics Simulation
CLC: TP242
Type: Master's thesis
Year: 2011
Downloads: 85
Quote: 0
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Abstract


Modern industrial production environment with the task increasingly complex and changing in order to adapt to the needs of the market , in order to adapt to this change , the need to adopt new production equipment with reconfigurable reconfigurable robot as one of the production equipment also need to have , reconfigurable robots become a hot spot in the field of robotics research . The robot system is reconfigurable by a group having a different function and the standard interface of the basic module , these modules can be provided according to the specific production tasks are quickly assembled into the robot having a different conformation . Of series of reconfigurable robots the basic module division and conceptual design , based on the optimal design method based on the configuration of the genetic algorithm , and then improve the traditional modeling method for reconfigurable robot kinematics and dynamics modeling and simulation . The first reconfigurable robots features and modules by basic principles of the division of the basic modules , each module concept design . In order to ensure the basic modules are connected to each other quickly and accurately , research design standard connection interface between the basic module . Secondly, the expression method of configuration using graph theory , and improvement of the correlation matrix of the design of reconfigurable robot configurations expression graph theory , based on the use of genetic algorithms of reconfigurable robot configuration optimization and through concrete examples to prove the validity of the method . The study based on the concept of modular reconfigurable robot forward kinematics modeling method , this method in MATLAB programming . The application of differential kinematics and spinor theory of inverse kinematics model and draw Solving Inverse Kinematics solved numerically using the Newton-Raphson iteration method . Finally, each basic module for reconfigurable robots are seen as a traditional robot rod at a fixed connection between the module is seen as the rotation angle of the rotating joint identically zero , on this basis, using Newton - Euler the equation recursive create reconfigurable robot dynamics model , programming in MATLAB , the program automatically modeling .

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CLC: > Industrial Technology > Automation technology,computer technology > Automation technology and equipment > Robotics > Robot
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